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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="comment">// SoftKinetic DepthSense SDK</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// COPYRIGHT AND CONFIDENTIALITY NOTICE - SOFTKINETIC CONFIDENTIAL</span>
<a name="l00005"></a>00005 <span class="comment">// INFORMATION</span>
<a name="l00006"></a>00006 <span class="comment">//</span>
<a name="l00007"></a>00007 <span class="comment">// All rights reserved to SOFTKINETIC SENSORS NV (a</span>
<a name="l00008"></a>00008 <span class="comment">// company incorporated and existing under the laws of Belgium, with</span>
<a name="l00009"></a>00009 <span class="comment">// its principal place of business at Boulevard de la Plainelaan 15,</span>
<a name="l00010"></a>00010 <span class="comment">// 1050 Brussels (Belgium), registered with the Crossroads bank for</span>
<a name="l00011"></a>00011 <span class="comment">// enterprises under company number 0811 341 454 - &quot;Softkinetic</span>
<a name="l00012"></a>00012 <span class="comment">// Sensors&quot;).</span>
<a name="l00013"></a>00013 <span class="comment">//</span>
<a name="l00014"></a>00014 <span class="comment">// The source code of the SoftKinetic DepthSense Camera Drivers is</span>
<a name="l00015"></a>00015 <span class="comment">// proprietary and confidential information of Softkinetic Sensors NV.</span>
<a name="l00016"></a>00016 <span class="comment">//</span>
<a name="l00017"></a>00017 <span class="comment">// For any question about terms and conditions, please contact:</span>
<a name="l00018"></a>00018 <span class="comment">// info@softkinetic.com Copyright (c) 2002-2015 Softkinetic Sensors NV</span>
<a name="l00020"></a>00020 <span class="comment"></span>
<a name="l00021"></a>00021 
<a name="l00022"></a>00022 <span class="preprocessor">#pragma once</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span>
<a name="l00024"></a>00024 <span class="preprocessor">#ifndef DEPTHSENSE_HXX</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#define DEPTHSENSE_HXX</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span>
<a name="l00030"></a>00030 
<a name="l00243"></a>00243 
<a name="l00244"></a>00244 <span class="preprocessor">#include &lt;string&gt;</span>
<a name="l00245"></a>00245 
<a name="l00246"></a>00246 <span class="preprocessor">#include &lt;DepthSenseVersion.hxx&gt;</span>
<a name="l00247"></a>00247 <span class="preprocessor">#include &lt;DepthSenseAPI.h&gt;</span>
<a name="l00248"></a>00248 <span class="preprocessor">#include &lt;DepthSenseTypes.h&gt;</span>
<a name="l00249"></a>00249 <span class="preprocessor">#include &lt;DepthSense-public.hxx&gt;</span>
<a name="l00250"></a>00250 <span class="preprocessor">#include &lt;DepthSensePost.hxx&gt;</span>
<a name="l00251"></a>00251 
<a name="l00252"></a>00252 <span class="keyword">namespace </span>DepthSense
<a name="l00253"></a>00253 {
<a name="l00265"></a>00265     <a class="code" href="namespaceDepthSense.html#a2a7e68edd42c1968dc1f026b94375962" title="The image resolution.">FrameFormat</a>
<a name="l00266"></a>00266 <span class="preprocessor">#ifndef DEPTHSENSE_DOC</span>
<a name="l00267"></a>00267 <span class="preprocessor"></span>        DEPTHSENSE_API
<a name="l00268"></a>00268 <span class="preprocessor">#endif</span>
<a name="l00269"></a>00269 <span class="preprocessor"></span>        <a class="code" href="namespaceDepthSense.html#a9ca86268eca634307adcbc364c21ee92" title="Converts a resolution to a FrameFormat value.">FrameFormat_fromResolution</a> (int32_t width, int32_t height);
<a name="l00270"></a>00270 
<a name="l00281"></a>00281     <span class="keywordtype">void</span>
<a name="l00282"></a>00282 <span class="preprocessor">#ifndef DEPTHSENSE_DOC</span>
<a name="l00283"></a>00283 <span class="preprocessor"></span>        DEPTHSENSE_API
<a name="l00284"></a>00284 <span class="preprocessor">#endif</span>
<a name="l00285"></a>00285 <span class="preprocessor"></span>        <a class="code" href="namespaceDepthSense.html#a2aa94787cf9464b9197f49d53b458c99" title="Converts a FrameFormat value to a resolution.">FrameFormat_toResolution</a> (<a class="code" href="namespaceDepthSense.html#a2a7e68edd42c1968dc1f026b94375962" title="The image resolution.">FrameFormat</a> frameFormat, int32_t* width, int32_t* height);
<a name="l00286"></a>00286 
<a name="l00295"></a>00295     <a class="code" href="structDepthSense_1_1Version.html" title="DepthSense version information.">DepthSense::Version</a>
<a name="l00296"></a>00296 <span class="preprocessor">#ifndef DEPTHSENSE_DOC</span>
<a name="l00297"></a>00297 <span class="preprocessor"></span>        DEPTHSENSE_API
<a name="l00298"></a>00298 <span class="preprocessor">#endif</span>
<a name="l00299"></a>00299 <span class="preprocessor"></span>        <a class="code" href="namespaceDepthSense.html#a21cc59aab170d1f6a8c701942cbd5de5" title="Gets the DepthSense Library version information.">getLibraryVersion</a> ();
<a name="l00300"></a>00300 
<a name="l00305"></a><a class="code" href="classDepthSense_1_1ProjectionHelper.html">00305</a>     <span class="keyword">class</span>
<a name="l00306"></a>00306 <span class="preprocessor">    #ifndef DEPTHSENSE_DOC</span>
<a name="l00307"></a>00307 <span class="preprocessor"></span>    DEPTHSENSE_API
<a name="l00308"></a>00308 <span class="preprocessor">    #endif</span>
<a name="l00309"></a>00309 <span class="preprocessor"></span>    <a class="code" href="classDepthSense_1_1ProjectionHelper.html" title="Computes the UV mapping of image points.">ProjectionHelper</a>
<a name="l00310"></a>00310     {
<a name="l00311"></a>00311         DEPTHSENSE_PRIVATE_DECLARE(<a class="code" href="classDepthSense_1_1ProjectionHelper.html" title="Computes the UV mapping of image points.">ProjectionHelper</a>);
<a name="l00312"></a>00312 
<a name="l00313"></a>00313         <span class="keyword">public</span>:
<a name="l00314"></a>00314 
<a name="l00322"></a>00322         <a class="code" href="classDepthSense_1_1ProjectionHelper.html" title="Computes the UV mapping of image points.">ProjectionHelper</a> (<a class="code" href="structDepthSense_1_1StereoCameraParameters.html" title="The intrinsic and extrinsic parameters of the camera system.">StereoCameraParameters</a> parameters);
<a name="l00323"></a>00323         ~<a class="code" href="classDepthSense_1_1ProjectionHelper.html" title="Computes the UV mapping of image points.">ProjectionHelper</a> ();
<a name="l00324"></a>00324 
<a name="l00332"></a>00332         <a class="code" href="structDepthSense_1_1StereoCameraParameters.html" title="The intrinsic and extrinsic parameters of the camera system.">StereoCameraParameters</a> getStereoCameraParameters () <span class="keyword">const</span>;
<a name="l00333"></a>00333 
<a name="l00341"></a>00341         <span class="keywordtype">void</span> setStereoCameraParameters (<a class="code" href="structDepthSense_1_1StereoCameraParameters.html" title="The intrinsic and extrinsic parameters of the camera system.">StereoCameraParameters</a> parameters);
<a name="l00342"></a>00342 
<a name="l00352"></a>00352         <span class="keywordtype">void</span> getUVMapping (<span class="keyword">const</span> <a class="code" href="structDepthSense_1_1Extended2DPoint.html" title="A point in the cartesian space as defined by its floating point pixel coordinates, and its integral cartesian depth.">Extended2DPoint</a>* input,
<a name="l00353"></a>00353                            <a class="code" href="structDepthSense_1_1UV.html" title="UV coordinates.">UV</a>* output,
<a name="l00354"></a>00354                            int32_t npoints);
<a name="l00355"></a>00355 
<a name="l00365"></a>00365         <span class="keywordtype">void</span> getUVMapping ( <span class="keyword">const</span> <a class="code" href="structDepthSense_1_1FPExtended2DPoint.html" title="A point in the cartesian space as defined by its floating point pixel coordinates, and its floating point cartesian depth.">FPExtended2DPoint</a>* input,
<a name="l00366"></a>00366                             <a class="code" href="structDepthSense_1_1UV.html" title="UV coordinates.">UV</a>* output,
<a name="l00367"></a>00367                             int32_t npoints );
<a name="l00368"></a>00368 
<a name="l00385"></a>00385         <span class="keywordtype">void</span> get3DCoordinates (<span class="keyword">const</span> <a class="code" href="structDepthSense_1_1Extended2DPoint.html" title="A point in the cartesian space as defined by its floating point pixel coordinates, and its integral cartesian depth.">Extended2DPoint</a>* input,
<a name="l00386"></a>00386                                <a class="code" href="structDepthSense_1_1Vertex.html" title="A point in space as defined by its integer coordinates.">Vertex</a>* output,
<a name="l00387"></a>00387                                int32_t npoints);
<a name="l00388"></a>00388 
<a name="l00405"></a>00405         <span class="keywordtype">void</span> get3DCoordinates (<span class="keyword">const</span> <a class="code" href="structDepthSense_1_1FPExtended2DPoint.html" title="A point in the cartesian space as defined by its floating point pixel coordinates, and its floating point cartesian depth.">FPExtended2DPoint</a>* input,
<a name="l00406"></a>00406                                <a class="code" href="structDepthSense_1_1FPVertex.html" title="A point in space as defined by its floating point coordinates.">FPVertex</a>* output,
<a name="l00407"></a>00407                                int32_t npoints);
<a name="l00408"></a>00408 
<a name="l00422"></a>00422         <span class="keywordtype">void</span> get2DCoordinates (<span class="keyword">const</span> <a class="code" href="structDepthSense_1_1Vertex.html" title="A point in space as defined by its integer coordinates.">Vertex</a>* input,
<a name="l00423"></a>00423                                <a class="code" href="structDepthSense_1_1Point2D.html" title="A point in the cartesian space as defined by its floating point pixel coordinates.">Point2D</a>* output,
<a name="l00424"></a>00424                                int32_t npoints,
<a name="l00425"></a>00425                                <a class="code" href="namespaceDepthSense.html#a57c659d5e702016bb71c489d83c40a6c" title="The camera plane to project on.">CameraPlane</a> plane);
<a name="l00426"></a>00426 
<a name="l00440"></a>00440         <span class="keywordtype">void</span> get2DCoordinates (<span class="keyword">const</span> <a class="code" href="structDepthSense_1_1FPVertex.html" title="A point in space as defined by its floating point coordinates.">FPVertex</a>* input,
<a name="l00441"></a>00441                                <a class="code" href="structDepthSense_1_1Point2D.html" title="A point in the cartesian space as defined by its floating point pixel coordinates.">Point2D</a>* output,
<a name="l00442"></a>00442                                int32_t npoints,
<a name="l00443"></a>00443                                <a class="code" href="namespaceDepthSense.html#a57c659d5e702016bb71c489d83c40a6c" title="The camera plane to project on.">CameraPlane</a> plane);
<a name="l00444"></a>00444         
<a name="l00445"></a>00445         <span class="keyword">private</span>:
<a name="l00446"></a>00446         DEPTHSENSE_DISABLE_COPY(<a class="code" href="classDepthSense_1_1ProjectionHelper.html" title="Computes the UV mapping of image points.">ProjectionHelper</a>);
<a name="l00447"></a>00447     };
<a name="l00448"></a>00448 
<a name="l00449"></a>00449     <span class="comment">// FIXME - Document</span>
<a name="l00450"></a><a class="code" href="classDepthSense_1_1ProcessingHelper.html">00450</a>     <span class="keyword">class</span>
<a name="l00451"></a>00451 <span class="preprocessor">    #ifndef DEPTHSENSE_DOC</span>
<a name="l00452"></a>00452 <span class="preprocessor"></span>    DEPTHSENSE_API
<a name="l00453"></a>00453 <span class="preprocessor">    #endif</span>
<a name="l00454"></a>00454 <span class="preprocessor"></span>    <a class="code" href="classDepthSense_1_1ProcessingHelper.html">ProcessingHelper</a>
<a name="l00455"></a>00455     {
<a name="l00456"></a>00456         DEPTHSENSE_PRIVATE_DECLARE(<a class="code" href="classDepthSense_1_1ProcessingHelper.html">ProcessingHelper</a>);
<a name="l00457"></a>00457 
<a name="l00458"></a>00458         <span class="keyword">public</span>:
<a name="l00459"></a>00459         <a class="code" href="classDepthSense_1_1ProcessingHelper.html">ProcessingHelper</a> (<a class="code" href="structDepthSense_1_1StereoCameraParameters.html" title="The intrinsic and extrinsic parameters of the camera system.">StereoCameraParameters</a> parameters, <span class="keywordtype">short</span> confidenceThreshold);
<a name="l00460"></a>00460         ~<a class="code" href="classDepthSense_1_1ProcessingHelper.html">ProcessingHelper</a> ();
<a name="l00461"></a>00461 
<a name="l00470"></a>00470         <span class="keywordtype">void</span> setParameters (<a class="code" href="structDepthSense_1_1StereoCameraParameters.html" title="The intrinsic and extrinsic parameters of the camera system.">StereoCameraParameters</a> parameters, <span class="keywordtype">short</span> confidenceThreshold);
<a name="l00471"></a>00471 
<a name="l00472"></a>00472         <span class="comment">// Only scalar versions for the time being</span>
<a name="l00473"></a>00473         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <span class="keyword">const</span> <span class="keywordtype">short</span>* input, <span class="keywordtype">short</span>* output);
<a name="l00474"></a>00474         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <span class="keyword">const</span> <span class="keywordtype">float</span>* input, <span class="keywordtype">float</span>* output);
<a name="l00475"></a>00475         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <span class="keyword">const</span> <a class="code" href="structDepthSense_1_1Vertex.html" title="A point in space as defined by its integer coordinates.">Vertex</a>* input, <a class="code" href="structDepthSense_1_1Vertex.html" title="A point in space as defined by its integer coordinates.">Vertex</a>* output);
<a name="l00476"></a>00476         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <span class="keyword">const</span> <a class="code" href="structDepthSense_1_1FPVertex.html" title="A point in space as defined by its floating point coordinates.">FPVertex</a>* input, <a class="code" href="structDepthSense_1_1FPVertex.html" title="A point in space as defined by its floating point coordinates.">FPVertex</a>* output);
<a name="l00477"></a>00477         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <span class="keyword">const</span> <a class="code" href="structDepthSense_1_1UV.html" title="UV coordinates.">UV</a>* input, <a class="code" href="structDepthSense_1_1UV.html" title="UV coordinates.">UV</a>* output);
<a name="l00478"></a>00478 
<a name="l00479"></a>00479         <span class="comment">// in place versions</span>
<a name="l00480"></a>00480         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <span class="keywordtype">short</span>* buffer);
<a name="l00481"></a>00481         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <span class="keywordtype">float</span>* buffer);
<a name="l00482"></a>00482         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <a class="code" href="structDepthSense_1_1Vertex.html" title="A point in space as defined by its integer coordinates.">Vertex</a>* buffer);
<a name="l00483"></a>00483         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <a class="code" href="structDepthSense_1_1FPVertex.html" title="A point in space as defined by its floating point coordinates.">FPVertex</a>* buffer);
<a name="l00484"></a>00484         <span class="keywordtype">void</span> applyConfidenceThreshold ( <span class="keyword">const</span> <span class="keywordtype">short</span>* confidenceMap, <a class="code" href="structDepthSense_1_1UV.html" title="UV coordinates.">UV</a>* buffer);
<a name="l00485"></a>00485 
<a name="l00486"></a>00486         <span class="keyword">private</span>:
<a name="l00487"></a>00487         DEPTHSENSE_DISABLE_COPY(<a class="code" href="classDepthSense_1_1ProcessingHelper.html">ProcessingHelper</a>);
<a name="l00488"></a>00488     };
<a name="l00489"></a>00489 }
<a name="l00490"></a>00490 
<a name="l00491"></a>00491 <span class="preprocessor">#endif  </span><span class="comment">/* DEPTHSENSE_HXX */</span>
</pre></div></div><!-- contents -->
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